Sample Factory: Egocentric 3D Control from Pixels at 100000 FPS with Asynchronous Reinforcement Learning. - Aleksei Petrenko; Zhehui Huang; Tushar Kumar; Gaurav S. Sukhatme; Vladlen Koltun (ICML, 2020)

Agents that Listen: High-Throughput Reinforcement Learning with Multiple Sensory Systems. - Shashank Hegde; Anssi Kanervisto; Aleksei Petrenko (CoG, 2021)

Decentralized Control of Quadrotor Swarms with End-to-end Deep Reinforcement Learning. - Sumeet Batra; Zhehui Huang; Aleksei Petrenko; Tushar Kumar; Artem Molchanov; Gaurav S. Sukhatme (CoRL, 2021)

Large Batch Simulation for Deep Reinforcement Learning. - Brennan Shacklett; Erik Wijmans; Aleksei Petrenko; Manolis Savva; Dhruv Batra; Vladlen Koltun; Kayvon Fatahalian (ICLR, 2021)

Megaverse: Simulating Embodied Agents at One Million Experiences per Second. - Aleksei Petrenko; Erik Wijmans; Brennan Shacklett; Vladlen Koltun (ICML, 2021)

DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality. - Ankur Handa; Arthur Allshire; Viktor Makoviychuk; Aleksei Petrenko; Ritvik Singh; Jingzhou Liu; Denys Makoviichuk; Karl Van Wyk; Alexander Zhurkevich; Balakumar Sundaralingam; Yashraj S. Narang; Jean-Francois Lafleche; et al. (CoRR, 2022)

DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality. - Ankur Handa; Arthur Allshire; Viktor Makoviychuk; Aleksei Petrenko; Ritvik Singh; Jingzhou Liu; Denys Makoviichuk; Karl Van Wyk; Alexander Zhurkevich; Balakumar Sundaralingam; Yashraj S. Narang (ICRA, 2023)

DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based Training. - Aleksei Petrenko; Arthur Allshire; Gavriel State; Ankur Handa; Viktor Makoviychuk (Robotics: Science and Systems, 2023)

QuadSwarm: A Modular Multi-Quadrotor Simulator for Deep Reinforcement Learning with Direct Thrust Control. - Zhehui Huang; Sumeet Batra; Tao Chen; Rahul Krupani; Tushar Kumar; Artem Molchanov; Aleksei Petrenko; James A. Preiss; Zhaojing Yang; Gaurav S. Sukhatme (CoRR, 2023)

Proximal Policy Gradient Arborescence for Quality Diversity Reinforcement Learning. - Sumeet Batra; Bryon Tjanaka; Matthew Christopher Fontaine; Aleksei Petrenko; Stefanos Nikolaidis; Gaurav S. Sukhatme (ICLR, 2024)

Reinforcement Learning for Long-Horizon Interactive LLM Agents. - Kevin Chen; Marco F. Cusumano-Towner; Brody Huval; Aleksei Petrenko; Jackson Hamburger; Vladlen Koltun; Philipp Krähenbühl (CoRR, 2025)

Robust Autonomy Emerges from Self-Play. - Marco F. Cusumano-Towner; David Hafner; Alexander Hertzberg; Brody Huval; Aleksei Petrenko; Eugene Vinitsky; Erik Wijmans; Taylor Killian; Stuart Bowers; Ozan Sener; Philipp Krähenbühl; Vladlen Koltun (CoRR, 2025)